version: 66.11
revision: 1138
glider: 500
mission: 14
dive: 4
start: 2 6 116 1 33 43
data:
$ID,500
$MISSION,14
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,340
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52426
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2108.334
$TGT_DEFAULT_LON,-15802.064
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-236144.53
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,259
$PITCH_MAX,3927
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,40
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,138.604
$AH0_10V,91.657997
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.701294
$PRESSURE_SLOPE,0.0001160337
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,91
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,87
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,133
$LOGGERDEVICE2,147
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043989951
$SEABIRD_T_H,0.00064183836
$SEABIRD_T_I,2.667867e-05
$SEABIRD_T_J,2.9682574e-06
$SEABIRD_C_G,-10.116304
$SEABIRD_C_H,1.149152
$SEABIRD_C_I,-0.0023872487
$SEABIRD_C_J,0.00025699043
$AD_RECORDABOVE,1100.0
$AD_PROFILE,3.0
$AD_XMITPROFILE,3.0
$AD_UPLOADMAX,60000.0
$AD_RECORDAPOGEE,0.0
$AD_STARTS,6.0
$AD_THRESHOLD,1520.0
$AD_INTERVAL,705.0
$AD_DURATION,1010.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_RECORDAPOGEE,0.0
$DB_STARTS,0.0
$GPS1,060216,012805,2114.976,-15754.285,6,1.4,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.1
$GPS2,060216,013236,2115.000,-15754.292,12,1.4,12,9.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,NORTH
$TGT_LATLONG,2112.000,-15754.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.027,-0.278
$KALMAN_X,-307.4,-229.5,-189.3,429.4,-42.2
$KALMAN_Y,719.4,287.2,194.6,-1290.8,374.5
$MHEAD_RNG_PITCHd_Wd,164.7,5578,-16.8,-10.000,-19.73,2606
$D_GRID,300
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.70,-170.3,253,2031,1064,998,0.0,0.0,0,103,0.00,0.00,-78.43,0.000,16386,0.000,0.000,254,2032,3375,3481,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.70,-170.3,251,2031,3478,3273,4.3,-6.8,8,123,9.00,2.05,-2.53,0.000,18948,0.242,0.044,2499,617,3519,3659,3380,0,0,0,0,0,0,25.99,26.47,26.70
$GC,308,-0.70,-170.3,2499,617,3660,3380,53.8,-20.1,28,314,0.00,2.03,0.00,0.000,1030,0.000,0.035,2489,2046,3520,3660,3380,0,0,0,0,0,0,28.83,26.47,28.83
$GC,638,-0.70,-170.3,2489,2046,3664,3380,124.0,-21.5,39,643,0.00,1.95,0.00,0.000,516,0.000,0.026,2489,626,3520,3660,3380,0,0,0,0,0,0,28.83,26.58,28.83
$GC,971,-0.70,-170.3,2489,626,3660,3380,180.5,-15.7,50,976,0.00,2.03,0.00,0.000,1030,0.000,0.032,2475,2033,3520,3660,3380,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1329,-0.70,-170.3,2478,2033,3657,3377,239.7,-16.4,58,1333,0.00,1.92,0.00,0.000,516,0.000,0.026,2478,625,3520,3660,3380,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1648,-0.70,-170.3,2478,628,3660,3380,289.4,-16.5,63,1652,0.12,1.98,0.00,0.000,3078,0.171,0.031,2501,2034,3520,3660,3380,0,0,0,0,0,0,26.29,26.58,28.83
$STATE,1743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1743,begin apogee
$GC,1747,-0.15,0.0,2501,2034,3659,3381,306.2,-14.9,65,1875,0.55,0.00,125.47,0.802,10246,0.132,0.000,2679,2068,2823,2902,2744,0,0,0,0,0,0,26.20,28.83,24.60
$STATE,1881,end apogee,CONTROL_FINISHED_OK
$STATE,1881,begin climb
$GC,1882,0.70,170.3,2679,2067,2902,2740,312.2,0.0,67,2018,0.77,0.00,128.95,0.786,10758,0.098,0.000,2951,2068,2126,2158,2094,0,0,0,0,0,0,25.39,28.83,24.51
$GC,2285,0.85,286.0,2951,2068,2158,2084,294.0,5.4,74,2379,0.12,2.12,87.10,0.783,10500,0.086,0.046,3030,3423,1653,1688,1618,0,0,0,0,0,0,26.22,25.32,24.59
$GC,2449,0.89,319.7,3030,3423,1688,1613,279.5,8.7,76,2480,0.00,2.05,25.15,0.743,9222,0.000,0.024,3041,2022,1512,1564,1460,0,0,0,0,0,0,28.83,25.87,24.79
$GC,2817,0.89,319.7,3041,2023,1564,1471,218.3,14.2,83,2821,0.00,2.17,0.00,0.000,260,0.000,0.045,3041,3434,1517,1564,1471,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2911,0.89,319.7,3041,3434,1566,1465,208.7,15.2,84,2916,0.12,2.00,0.00,0.000,5126,0.174,0.024,3020,2024,1495,1564,1426,0,0,0,0,0,0,26.10,26.34,28.83
$GC,3234,0.89,319.7,3020,2023,1563,1465,163.6,12.9,95,3239,0.00,2.15,0.00,0.000,260,0.000,0.043,3020,3434,1515,1561,1469,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3316,0.89,319.7,3020,3434,1563,1460,155.4,13.4,97,3324,0.00,2.03,0.00,0.000,1030,0.000,0.024,3031,2035,1449,1563,1335,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3624,0.89,319.7,3031,2035,1563,1463,118.0,11.6,108,3629,0.00,2.10,0.00,0.000,260,0.000,0.044,3031,3429,1513,1563,1463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3706,0.89,319.7,3031,3429,1563,1461,112.3,10.5,110,3714,0.00,2.03,0.00,0.000,1030,0.000,0.024,3041,2027,1511,1560,1462,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4014,0.91,338.8,3041,2027,1563,1461,82.4,9.2,121,4036,0.00,2.20,14.52,0.633,8452,0.000,0.043,3042,3431,1439,1490,1388,0,0,0,0,0,0,28.83,26.33,25.64
$GC,4146,0.91,338.8,3041,3431,1490,1387,68.7,11.4,125,4150,0.00,2.05,0.00,0.000,1030,0.000,0.024,3049,2021,1439,1490,1388,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4454,0.91,338.8,3051,2020,1490,1387,33.7,10.9,145,4464,0.00,2.12,0.00,0.000,260,0.000,0.044,3049,3437,1438,1490,1387,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4509,0.91,338.8,3052,3437,1490,1387,27.2,12.5,150,4518,0.10,2.03,0.00,0.000,5126,0.141,0.023,3027,2027,1438,1490,1387,0,0,0,0,0,0,26.29,26.56,28.83
$GC,4698,0.93,355.7,3027,2028,1490,1387,9.0,9.3,169,4710,0.00,2.12,7.47,0.448,8452,0.000,0.043,3027,3434,1370,1421,1320,0,0,0,0,0,0,28.83,26.45,25.82
$GC,4748,0.93,355.7,3027,3435,1421,1320,3.9,10.5,174,4758,0.00,1.98,0.00,0.000,1030,0.000,0.024,3038,2042,1371,1422,1320,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,4767,end climb,SURFACE_DEPTH_REACHED
$STATE,4767,begin surface coast
$FINISH,0.5,1.007666
$STATE,4788,end surface coast,CONTROL_FINISHED_OK
$STATE,4788,begin surface
$SM_CCo,4867,0.00,0.000,0,0,1370,355.68
$SM_GC,1.44,6.97,0.00,0.00,0.041,0.000,0.000,223,2043,1370,-7.69,0.28,355.68,0,0,0,0,0,0,26.55,28.83,28.83
$IRIDIUM_FIX,2106.38,-15756.45,021208,141417
$TT8_MAMPS,0.059171,0.059171
$HUMID,57.16
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,0.940
$10V_AH,10.4,1.883
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.775,41.100,388.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,15.240,563.456,3044.050,416.602,877.452,45.235,32.227,866.741,0.000,819.904,0.000,0.545,0.000
$DEVICE_MAMPS,241.740,45.900,802.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,13.810,2.190,13.810,39.280,46.020,64.740,16.150,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,117.719,315.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,49.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,351812
$DATA_FILE_SIZE,6954,178
$CAP_FILE_SIZE,70716,0
$CFSIZE,259252224,257409024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060216,025559,2114.452,-15753.872,35,2.0,35,9.8